DC Motor

Reference:
Ned Mohan, Electric Machines and Drives, Wiley, 2012.
Structure
 Magnetic Field Produced by Stator

Permanent
magnets

N S
f 0 f 0

f produced by f produced by
permanent magnets stator winding current
Flux Density in the Airgap from DC Field

Back-end

N S
0

N 1 1' S
f

m s1 b2
s2 Bf
b1
ia
0

0
 Torque Production and Commutation Action

ia ia ia

1'
+ ea - + ea - + ea -
S1 S2 S2 S2 S1
N 1 1' S N S N 1' 1 S
0 0 0
m S1 m
Tem Tem
1

Electromagnetic Torque:
e1,1' , i1to1'
Tem 2 B f lia r (2 B f lr )ia kT ia 0
Induced voltage or back EMF:
0o 90 o 180 o 270o 360 o

ea 2 B f lr (2 B f lr ) kE
ea (t)

Ea

where
(average)
0
180 o ea (t) 270 o

0o 90 o 360 o
kT kE 2 B f lr Tem (t)

Tem
Torque Constant EMF Constant (average)
0
0o 90 o 180o 270 o 360o
Four Coil Example (1)
Four Coil Example (2)

ea
4e

2e Ea
(average)
0
0o 45o 90 o 135o 180 o 225o 270 o 315o 360o
Tem
4Tcond

2Tcond Tem
(average)
0
0o 45o 90 o 135o 180 o 225o 270 o 315o 360 o
 Multi Coil Case
Quadrature axis Ca : Number of conductors

Electromagnetic Torque:
ia Ca B f lr
Tem Ca B f l r ia kT ia
Direct axis
2 2
Induced voltage or back EMF:
Ca Ca B f lr
ea B f lr k E
2 2
where
Ca B f lr
kT kE
2
Torque Constant EMF Constant
 Equivalent Circuit of DC Motor

T
ia em f constant at its rated value
ia kT
m Va1 Va2 Va3 Va4

m,rated Va1 rated
Ra

Tem Va2
N S va La
va m
Va3
ea k E m Tem , m Va4

_ TL
JM
JL
rated Tem

Basicequations Steady State

ea k E m Ia
Tem ( TL )
d ia kT
va ea Ra ia La
dt Va I a Ra
Tem kT ia m =
kE
dm 1
(Tem TL ) Ca B f lr
dt J eq kT k E
2
 Operating Modes

Regenerative Braking: Feeding energy back while braking

current and torque direction reversed
same polarityof induced emf
Operation in reverse direction: polarityof applied voltage
reversed
Motoring ia 0
Regenerative braking ia 0
 Four Quadrant Operation

m
Regenerative Braking in Motoringin Forward direction
Forward direction a
f f ea
ea
ia ia
a
Tem
m Tem ,m
Tem
Motoringin Reverse direction Regenerative Braking in
Reverse direction
a
f
f
ea ea
ia Tem a
m ia
Tem ,m
 Fluxweakening in Wound Field Machines

To Allow Overspeed Operation

m
m,rated
2 Va rated
I a rated
f=reduced
1 Va rated
I a rated
f=rated
Tem
0 1 Tem,rated
Below ratedspeed, kT maximum to ensure maximum
torque/Ampere thereby minimizing resistive losses
Above rated speed,Bf reduced to keepVa at itsrated value.
B f reduced by reducing I f
kT and k E reduced; kT , kE B f
Since I a islimited to itsrated value maximum, Tem reduces.
 Electronically Commutated Motor Drives
Brushless DC Insideout machines
Electronicallycommutated
armature